Author

Jonathan Kelly

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Preprint Oct 2026

geodex: A Library for Motion Planning on Riemannian Manifolds

Planning motions that respect the intrinsic geometry of a robot's configuration space, including its curvature and a configuration-dependent notion of cost, yields shorter, lower-energy, and more natural trajectories than planning under the ambient flat metric. Existing libraries for optimization on manifolds provide r...

Phone Thiha Kyaw, Ben Wei, S. Samavi et al. · 0 citations

Preprint Aug 2026

Contact Modes Are Strata: What Geometric Structure Buys in Discrete-Continuous Planning

Contact-rich manipulation poses a discrete question and a continuous one at once, namely which contacts are active and how to move while they hold. The two are coupled by a change of dimension, since each contact that a robot maintains confines its motion to a lower-dimensional manifold. We make that coupling the expli...

Phone Thiha Kyaw, Jonathan Kelly · 0 citations